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Announcing the release PRTOS, an open-source preemptive real time operating system kernel for bare-metal applications.
You may find PRTOS a good choice if you want to learn about preemptive multitasking. The API, though having all the features of FreeRTOS or uC/OS, is much simpler and easier to learn. Additionally the system will fit into much smaller processors.
PRTOS is released by Cleveland Engineering Design - the developer of the CoRTOS cooperative real time OS, also available on Sourceforge.
PRTOS presently supports the MSP430 and AVR architectures.
PRTOS is available on Sourceforge at https://sourceforge.net/projects/prtos-preemptive-rtos/
The advantages of PRTOS are:
It has the smallest footprint of any true preemptive system: 1.3kB for basic scheduling and task control, 4.8kB with all the features below (MSP430 / size optimization);
Only 950 lines of code implement all of the RTOS features (SLOC-L);
The system is configurable, you include only the features you need;
There is minimal to zero interrupt burden;
The system is well documented with a short but comprehensive manual, well-commented source code, and a test suite demonstrating the features;
The system is proven - it has been in use since 1982 with applications in in-vitro medical equipment, process control instrumentation and industrial machinery;
It is released under a GPL V3 license and commercial licensing is available.
PRTOS provides the following features:
Scheduling
Preemptive
Prioritized
Round-robin equal priority tasks
Task Control
Initialize/Ready
Suspend/Resume
Lock/Unlock
Change priority
Relinquish a round-robin turn
Communication
Messages, priority messages
Signals
Delay & Time
Task delays
Time-outs
Periodic signals
Run timers
Resources (mutexes)
Multiple resource ownership
Priority inversion mitigation
Priority or FIFO queuing
Semaphores
Binary
Counting
Signaling
ISR -> task functions
Send signal
Send message, send priority message
Resume task